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Command vv

vv

Provides subcommands that can be chained together. The inputs and outputs of a subcommand must be specified with the +input= or +in followed by a comma separated list of inputs or +output= or +out to denote the name of its output stream. Note that +input must be specified for commands other than read.

Usage: vv <COMMAND>

Commands:
  convert     Converts a pointcloud file from one format to another.
                  Supported formats are .pcd and .ply.
                  Supported storage types are binary and ascii.
  write       Writes from input stream into a file, input stream can be pointcloud data or metrics
  read        Reads in one of our supported file formats.
                  Files can be of the type .pcd .ply.
                  The path can be a file path or a directory path contains these files.
  render      Writes point clouds from the input stream into images
  metrics     Calculates the metrics given two input streams.
                  First input stream is the original.
                  Second is the reconstructed.
                  Then uses write command to write the metrics into a text file.
  downsample  Downsample a pointcloud from the stream
  upsample    Upsamples a pointcloud from the stream
  normal      Performs normal estimation on point clouds.
  info        Get the info of a pointcloud file or directory.
                  Supported formats are .pcd and .ply.
                  If no option is specified, all info will be printed.
  dash        Dash will simulate a varying network conditions.
                  Dash reads in one of our supported file formats.
                  Files can be of the type .pcd .ply.
                  The path can be a file path or a directory path contains these files.
  help        Print this message or the help of the given subcommand(s)

Options:
  -h, --help  Print help

Example

vv read ./ply_ascii +output=ply_a \
        write --output-format pcd --storage-type binary \
        ./pcd_binary +input=ply_a

Alternatively, you can use +in and +out as a shortcut to +input and +output.

vv read ./ply_ascii +out=ply_a \
        write --output-format pcd --storage-type binary \
        ./pcd_binary +in=ply_a

read

Reads in one of our supported file formats. Files can be of the type .pcd .ply. The path can be a file path or a directory path contains these files.

Usage: read [OPTIONS] [FILES]...

Arguments:
  [FILES]...  Files, glob patterns, directories

Options:
  -t, --filetype <FILETYPE>  [default: all] [possible values: all, ply, pcd]
  -n, --num <NUM>            read previous n files after sorting lexicalgraphically
  -h, --help                 Print help
vv read ./Ply +output=plys

Read only 10 files from a folder, specifying --num is useful to check the command is working as expected.

vv read ./Ply --num 10 +output=plys

render

Writes point clouds from the input stream into images(png) or videos(mp4). To render point clouds into mp4, you need to make sure ffmepg is installed.

Usage: render [OPTIONS] <OUTPUT_DIR>

Arguments:
  <OUTPUT_DIR>  Directory to store output png images

Options:
  -x, --camera-x <CAMERA_X>        [default: 0]
  -y, --camera-y <CAMERA_Y>        [default: 0]
  -z, --camera-z <CAMERA_Z>        [default: 1.8]
      --yaw <CAMERA_YAW>           [default: -90]
      --pitch <CAMERA_PITCH>       [default: 0]
      --width <WIDTH>              [default: 1600]
      --height <HEIGHT>            [default: 900]
      --name-length <NAME_LENGTH>  [default: 5]
      --bg-color <BG_COLOR>        [default: rgb(255,255,255)]
      --format <RENDER_FORMAT>     [default: png] [possible values: png, mp4]
      --fps <FPS>                  [default: 30]
      --verbose
  -h, --help                       Print help

render to png example

vv read ./Ply +output=plys \
        render ./Pngs +input=plys

render to mp4 example

Read 60 frames of pointcloud and render them into a mp4 video with fps=20. This is done by first render them into png files, and then use ffmpeg to convert the images into a mp4 video.

vv read -n 60 ./pcd +output=pcd \
    render ./mp4 \
    +input=f --format mp4 --fps 20

metrics

Calculates the metrics given two input streams where the first input stream is the original and the second is the reconstructed one. Then uses write command to write the metrics into a text file. Currently we support a number of commanly used metrics such as ACD(Asymmetric Chamfer Distance), CD(Chamfer Distance), CD-PSNR, HD(Hausdorff Distance), L-CPSNR(Luminance Color PSNR), VQoE(Viola et al.’s QoE). If no metric is specified, all metrics will be outputed.

Usage: metrics [OPTIONS]

Options:
  -m, --metrics <METRICS>...  [default: all] [possible values: acd, cd, cd-psnr, hd, lc-psnr, v-qoe, all]
  -h, --help             Print help

The following command will write all metrics.

vv read ./original +output=original \
        read ./reconstructed +output=reconstructed \
        metrics +input=original,reconstructed +output=metrics \
        write ./metrics +input=metrics

Specify the metrics by using –metrics, use space ‘,’ as a delimiter for more than one metric.

vv read ./original +output=original \
        read ./reconstructed +output=reconstructed \
        metrics +input=original,reconstructed +output=metrics --metrics acd,cd,hd \
        write ./metrics +input=metrics

write

Writes from input stream into a file, input stream can be pointcloud data or metrics

Usage: write [OPTIONS] <OUTPUT_DIR>

Arguments:
  <OUTPUT_DIR>  output directory to store point cloud files or metrics

Options:
      --output-format <OUTPUT_FORMAT>  [default: pcd]
  -s, --storage-type <STORAGE_TYPE>    [default: binary]
      --name-length <NAME_LENGTH>      [default: 5]
  -h, --help                           Print help

Writing metrics

vv read ./original +output=original \
        read ./reconstructed +output=reconstructed \
        metrics +input=original,reconstructed +output=metrics \
        write ./metrics +input=metrics

upsample

Upsamples a point cloud.

Usage: upsample --factor <FACTOR>

Options:
  -f, --factor <FACTOR>
  -h, --help             Print help

Upsampling a file

Upsamples pcd files and write as ply binary

vv read ./pcd +output=pcdb \
       upsample --factor 2 +input=pcdb +output=pcdb_up \
       write ./pcd_up \
             +input=pcdb_up \
             --storage-type binary \
             --output-format ply

downsample

downsamples a point cloud.

Usage: downsample --points-per-voxel <POINTS_PER_VOXEL>

Options:
  -p, --points-per-voxel <POINTS_PER_VOXEL>
  -h, --help

Downsampling a file

Downsamples pcd files and write as ply binary

vv read ./pcd +output=pcdb \
       downsample -p 2 +input=pcdb +output=pcdb_down \
       write ./pcdb_down \
             +input=pcdb_down \
             --storage-type binary \
             --output-format ply

normal

Performs normal estimation on a point cloud.

Usage: normal --k <NUMBER_OF_NEIGHBORING_POINTS>

Normal Estimation Example

Performs normal estimation on ply files and write the computed normals back to the ply files.

.\vv read ".\Ply" +output=ply_a \
        normal --k 30 +input=ply_a +output=normal_a \
        write --output-format ply ./test +input=normal_a

Complex Example

vv read ./pcd                       +output=pcdb \
       read ./pcd_compressed            +output=pcd_comp \
       downsample -p 5 +input=pcdb      +output=pcdb_down \
       upsample   -f 2 +input=pcdb_down +output=pcdb_down_up \
       metrics +input=pcd_comp,pcdb_down_up +output=metric \
       write  ./metrics     +input=metric \
       write  ./down_up     +input=pcdb_down_up \
       render ./tmp/down_up +input=pcdb_down_up

convert

We recognize that some users may just want to convert a file from one format to another. So convert is provided as a shortcut for read and write. Currently we support any conversion between ply and pcd. We also support converting files from velodyne’s bin file to ply/pcd. For convert, named input-ouput is not needed.

Usage: convert [OPTIONS] --output <OUTPUT>

Options:
  -o, --output <OUTPUT>
      --output-format <OUTPUT_FORMAT>  [default: pcd]
  -s, --storage-type <STORAGE_TYPE>    [default: binary]
  -i, --input <INPUT>
  -h, --help                           Print help

convert from ply to pcd(binary)

vv convert --input ./ply_a --output ./pcd_b

convert from pcd to ply(ascii)

vv convert --input ./pcd_b --output ./ply_a --storage-type ascii --output-format ply

convert from pcd(binary) to pcd(ascii)

vv convert --input ./pcd_b --output ./pcd_a --storage-type ascii --output-format pcd

info

Get the info of a pointcloud file or directory. Supported formats are .pcd and .ply. If no option is specified, all info will be printed.

Usage: info [OPTIONS] <PATH>

Arguments:
  <PATH>

Options:
      --num-of-points  Get the number of points in a file
      --format         Get the format of a file
      --num-of-frames  Get the number of frames in a directory
  -h, --help           Print help

Examples info for a pointcloud file

vv info foo.ply

The encoding format(ascii or binary) of the file, the number of points will be printed.

format: pcd ASCII
number of points: 693899

info for a directory that contains pointcloud file

vv info ./longdress/Ply

The encoding format(ascii or binary) of the file in the directory, the number frames and the average of points will be printed.

format: pcd BINARY
number of frames: 240
average number of points: 728297.04

If more than one file format exists in the given directory, the summary of respective type will be printed.

vv info ./longdress/all_types

will output

format: pcd ASCII
number of frames: 2
average number of points: 688515.00

format: ply BINARY
number of frames: 2
average number of points: 649491.00

format: pcd BINARY
number of frames: 2
average number of points: 671719.00

format: ply ASCII
number of frames: 2
average number of points: 688515.00

dash

Dash will simulate a varying network conditions, it reads in one of our supported file formats. Files can be of the type .pcd .ply. The path can be a file path or a directory path contains these files.

Usage: dash [OPTIONS] <FILES>... +output=plys

Arguments:
  <INPUT_PATH>    input directory with different quality of point clouds
  <NETWORK_PATH>  path to network settings

Options:
  -a, --algorithm <ALGORITHM>  [default: naive] [possible values: naive, quetra]
  -n, --num <NUM>              read previous n files after sorting lexicalgraphically
  -t, --filetype <FILETYPE>    [default: all] [possible values: all, ply, pcd, bin]
  -h, --help                   Print help

Preparation

An example of network setting file is provided in ./test_files/dash/sim_nw_avg_14050.txt

The structure of input directory with different quality of point clouds should be the following.

INPUT_PATH
├── R01
│   ├── r1_longdress_dec_0000.pcd
│   ├── ***
│   └── r1_longdress_dec_0299.pcd
├── R02
│   ├── r2_longdress_dec_0000.pcd
│   ├── ***
│   └── r2_longdress_dec_0299.pcd
├── R03
│   ├── r3_longdress_dec_0000.pcd
│   ├── ***
│   └── r3_longdress_dec_0299.pcd
├── R04
│   ├── r4_longdress_dec_0000.pcd
│   ├── ***
│   └── r4_longdress_dec_0299.pcd
└── R05
    ├── r5_longdress_dec_0000.pcd
    ├── ***
    └── r5_longdress_dec_0299.pcd

Usage

vv dash ./input ./sim_nw_avg_14050.txt -a quetra +out=dash \
   write --output-format pcd --storage-type binary \
   ./pcd_quetra +in=dash
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